Setup and Reference Guide - Kollmorgen

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Notes: • IN2MODE = 7 operation: If the drive is in OPMODE 8 (positioning), an input with IN2MODE=7 can be used to trigger an incremental move (MI), using the variables MIDIST0-3, MISPEED0-3. Refer to the descriptions for those variables, as well as the description of MH, for more information. If the drive is in OPMODE 1 (analog velocity), an input with IN2MODE =7 can be used to trigger a jog at a speed entered in MISPEED0-3. See the description of MISPEED0 for more details.IN2MODE 7 can be activated while the motor is in motion. This causes the motor to begin the next index immediately after completing the previous index (called "look-aheadbuffering"). • IN2MODE = 9 operation: If the drive is in OPMODE 1 (analog velocity) and IN2MODE is 9, then witching the related IN2 input to '1' causes the drive to switch to OPMODE 3 (analog current). Switching the IN2 input back to '0' will cause the drive to switch back to OPMODE 1 (analog velocity). The LED display of OPMODE will change according to the user input, but the serial response to a prompt for OPMODE will return 1. The OPMODE change can happen when the drive is enabled, therefore the user must make the switch with zero command. • IN2MODE = 12 operation: Execute HOMETYPE (see note in HOMETYPE). Moves are performed at velocity equal to HOMESPD. • IN2MODE = 18: if input = 0, the fault relay will open. If input = 1, the fault relay operates as normal. • IN2MODE=21: The same function as IN2MODE=7 except that IN2MODE=21 ignores input signals until the motor has completed in prior index (comes to rest). There is no "look-aheadbuffering." • IN2MODE=22: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. • IN2MODE=23: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. • IN1MODE=24: With the drive starting in the position-mode (OPMODE=8) with the INPUT = Low; a Low --> High transition of the INPUT changes the drive to the gearing-mode (OPMODE=4); with a High --> Low transition, the drive is changed back to the position-mode (OPMODE=8). These OPMODE changes occur when the drive is enabled or disabled. Firmware Versions: see above Type: switch mode (R/W) Units: N/A Range: 0 to 24 Default: 2 EEPROM: N/A Opmodes: dependent Drive Status: EN/DIS IN3 This is used to read the state of the hardware input on user connector C3 Pin 11. Firmware Versions: 2.1.0 and later Type: switch (R) Units: N/A Range: 0 (OFF), 1=(ON) Default: N/A EEPROM: N/A Opmodes: All Drive Status: EN/DIS 50
IN3MODE IN3MODE sets the functionality of the IN3 input. The function list is: IN3MODE=0: No function* IN3MODE=1: CW limit switch* IN3MODE=2: CCW limit switch* IN3MODE=3: Gear disable input (All GEARMODE values)* IN3MODE=4: Gear mask input (All GEARMODE values)* IN3MODE=5: Gear A input (GEARMODE = 0-2)* IN3MODE=6: Gear B input (GEARMODE = 0-2)* IN3MODE=7: Trigger incremental move / jog ** IN3MODE=8: Use second current limit (ILIM2)** IN3MODE=9: Switch OPMODE from 1 to 3** IN3MODE=10: Home switch** IN3MODE=11: Reserved IN3MODE=12: Search for absolute machine zero/Move to absolute machine zero (home)** IN3MODE=13: Trigger absolute move (MAPOS at MASPEED)** IN3MODE=14: Binary MIDIST / MISPEED selection code MSB** IN3MODE=15: Binary MIDIST / MISPEED selection code LSB** IN3MODE=16: Reserved IN3MODE=17: Trigger active disable (see DISSPEED)* IN3MODE=18: Control fault relay** (see Notes below) IN3MODE=19: Hold position* IN3MODE=20: When OPMODE=1, an active input switches to OPMODE=4 (must be disabled or 0 velocity) IN3MODE=21: Trigger incremental move *** (see Notes below) IN3MODE=22: Triggers incremental move when MODMODE=1. Distance = (PROTARY / DIVISIONS)**** IN3MODE=23: Trigger incremental move when MODMODE=1. Distance = (2 * PROTARY / DIVISIONS)**** IN3MODE=24: Change OPMODE 8 to OPMODE 4 using digital input.**** IN3MODE=25: Upon transition from 0 to 1, the faults are cleared if REMOTE=0 or SWEN=0.***** * available in firmware versions 2.1.0 and later ** available in firmware versions 3.1.0 and later *** available in firmware versions 3.5.0 and later **** available in firmware versions 4.0.0 and later ***** available in firmware versions 4.1.8 and later Notes: • IN3MODE = 7 operation: If the drive is in OPMODE 8 (positioning), an input with IN3MODE=7 can be used to trigger an incremental move (MI), using the variables MIDIST0-3, MISPEED0-3. Refer to the descriptions for those variables, as well as the description of MH, for more information. If the drive is in OPMODE 1 (analog velocity), an input with IN3MODE =7 can be used to trigger a jog at a speed entered in MISPEED0-3. See the description of MISPEED0 for more details.IN3MODE 7 can be activated while the motor is in motion. This causes the motor to begin the next index immediately after completing the previous index (called "look-ahead-buffering"). 51
Page 1 and 2:
Danaher Motion SERVOSTAR ® S SERVO
Page 3 and 4:
Safety Instructions Only qualified
Page 5 and 6:
Contents INSTALLATION PROCEDURE....
Page 7 and 8:
ERR................................
Page 9 and 10:
MHINVC ............................
Page 11 and 12: TRUN ..............................
Page 13 and 14: INSTALLATION PROCEDURE This Setup a
Page 15 and 16: SERVOSTAR CX HARDWARE SPECIFICATION
Page 17 and 18: CX ELECTRICAL SPECIFICATIONS Main I
Page 19 and 20: Product Model PA-LM PA08 PA14 PA28
Page 21 and 22: PRODUCT FAMILY CONTROL SPECIFICATIO
Page 23 and 24: Notes for DIP switch: The 10 positi
Page 25 and 26: CX SYSTEM WIRING DIAGRAM 13
Page 27 and 28: SX WITH PA50, 75, OR 85 SYSTEM WIRI
Page 29 and 30: SX FILTER AND BONDING DIAGRAM 17
Page 31 and 32: COMMANDS/VARIABLES BY FUNCTION ANAL
Page 33 and 34: POSITION VARIABLES AND COMMANDS DUA
Page 35 and 36: VARIABLE/COMMAND SET ACC Sets the d
Page 37 and 38: ANOUT Sets the source for the analo
Page 39 and 40: COMPMODE Sets the velocity controll
Page 41 and 42: DIR Sets the direction (inversion)
Page 43 and 44: DISTIME Sets the amount of time to
Page 45 and 46: ENCOUT Sets the resolution (number
Page 47 and 48: FOLDMODE Sets the mode for drive cu
Page 49 and 50: GET Causes all recorded variables t
Page 51 and 52: GV Sets the proportional gain for t
Page 53 and 54: HC3 Defines the properties of corre
Page 55 and 56: HOMETYPE Defines the type of homing
Page 57 and 58: ICMD Displays the Current (Torque)
Page 59 and 60: IN Returns the state of the three d
Page 61: IN2 This is used to read the state
Page 65 and 66: ININV2 Invert user input #2 C3 pin
Page 67 and 68: KV KV is a tuning variable which se
Page 69 and 70: MA This command (Serial Move Absolu
Page 71 and 72: MENCTYPE Sets the motor encoder typ
Page 73 and 74: MFOLDDIS enables/disables the motor
Page 75 and 76: MHINVC MHINVC is a variable which a
Page 77 and 78: digital input to INxMODE=7 and tran
Page 79 and 80: Opmode 1 operation: You select a MI
Page 81 and 82: MLGAINZ Sets the current loop adapt
Page 83 and 84: MSG Enables and disables the sendin
Page 85 and 86: O1 O1 is used to read or write the
Page 87 and 88: OPMODE Sets the operational mode fo
Page 89 and 90: PLIM A switch mode variable that co
Page 91 and 92: PSCALE A position scale factor that
Page 93 and 94: Command Syntax:RECORD [sample time]
Page 95 and 96: RELAY Indicates the status of the F
Page 97 and 98: STAT Outputs a drive status summary
Page 99 and 100: STATUS Word 5: Hold Mode Status Wor
Page 101 and 102: STEP Generates a step or square wav
Page 103 and 104: THERM Indicates the state of the mo
Page 105 and 106: UNITS Defines whether physical unit
Page 107 and 108: VD A vector variable that sets the
Page 109 and 110: VLIM Sets the application velocity
Page 111 and 112: ZPOS Is applicable only if MENCTYPE
Page 113 and 114:
NON-FATAL ERROR CODES Error Message
Page 115 and 116:
Non-Fatal Error Codes Error Message
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Setup and Reference Guide - Kollmorgen

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